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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs257
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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Runtime.InteropServices;
29using System.Security;
30using System.Text;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSPlugin {
34
35[StructLayout(LayoutKind.Sequential)]
36public struct ConvexHull
37{
38 Vector3 Offset;
39 int VertexCount;
40 Vector3[] Vertices;
41}
42[StructLayout(LayoutKind.Sequential)]
43public struct ShapeData
44{
45 public enum PhysicsShapeType
46 {
47 SHAPE_AVATAR = 0,
48 SHAPE_BOX = 1,
49 SHAPE_CONE = 2,
50 SHAPE_CYLINDER = 3,
51 SHAPE_SPHERE = 4,
52 SHAPE_MESH = 5,
53 SHAPE_HULL = 6
54 };
55 public uint ID;
56 public PhysicsShapeType Type;
57 public Vector3 Position;
58 public Quaternion Rotation;
59 public Vector3 Velocity;
60 public Vector3 Scale;
61 public float Mass;
62 public float Buoyancy;
63 public System.UInt64 HullKey;
64 public System.UInt64 MeshKey;
65 public float Friction;
66 public float Restitution;
67 public int Collidable;
68 public int Static; // true if a static object. Otherwise gravity, etc.
69
70 // note that bools are passed as ints since bool size changes by language and architecture
71 public const int numericTrue = 1;
72 public const int numericFalse = 0;
73}
74[StructLayout(LayoutKind.Sequential)]
75public struct SweepHit
76{
77 public uint ID;
78 public float Fraction;
79 public Vector3 Normal;
80 public Vector3 Point;
81}
82[StructLayout(LayoutKind.Sequential)]
83public struct RaycastHit
84{
85 public uint ID;
86 public float Fraction;
87 public Vector3 Normal;
88}
89[StructLayout(LayoutKind.Sequential)]
90public struct CollisionDesc
91{
92 public uint aID;
93 public uint bID;
94 public Vector3 point;
95 public Vector3 normal;
96}
97[StructLayout(LayoutKind.Sequential)]
98public struct EntityProperties
99{
100 public uint ID;
101 public Vector3 Position;
102 public Quaternion Rotation;
103 public Vector3 Velocity;
104 public Vector3 Acceleration;
105 public Vector3 RotationalVelocity;
106}
107
108// Format of this structure must match the definition in the C++ code
109[StructLayout(LayoutKind.Sequential)]
110public struct ConfigurationParameters
111{
112 public float defaultFriction;
113 public float defaultDensity;
114 public float defaultRestitution;
115 public float collisionMargin;
116 public float gravity;
117
118 public float linearDamping;
119 public float angularDamping;
120 public float deactivationTime;
121 public float linearSleepingThreshold;
122 public float angularSleepingThreshold;
123 public float ccdMotionThreshold;
124 public float ccdSweptSphereRadius;
125
126 public float terrainFriction;
127 public float terrainHitFraction;
128 public float terrainRestitution;
129 public float avatarFriction;
130 public float avatarDensity;
131 public float avatarRestitution;
132 public float avatarCapsuleRadius;
133 public float avatarCapsuleHeight;
134
135 public const float numericTrue = 1f;
136 public const float numericFalse = 0f;
137}
138
139static class BulletSimAPI {
140
141[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
142[return: MarshalAs(UnmanagedType.LPStr)]
143public static extern string GetVersion();
144
145[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
146public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
147 int maxCollisions, IntPtr collisionArray,
148 int maxUpdates, IntPtr updateArray);
149
150[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
151public static extern bool UpdateParameter(uint worldID, uint localID,
152 [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value);
153
154[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
155public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap);
156
157[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
158public static extern void Shutdown(uint worldID);
159
160
161[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
162public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep,
163 out int updatedEntityCount,
164 out IntPtr updatedEntitiesPtr,
165 out int collidersCount,
166 out IntPtr collidersPtr);
167
168[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
169public static extern bool CreateHull(uint worldID, System.UInt64 meshKey,
170 int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls
171 );
172
173[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
174public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey,
175 int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
176 int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices
177 );
178
179[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
180public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey);
181
182[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
183public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
184
185[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
186public static extern bool CreateObject(uint worldID, ShapeData shapeData);
187
188[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
189public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
190
191[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
192public static extern void AddConstraint(uint worldID, uint id1, uint id2,
193 Vector3 frame1, Quaternion frame1rot,
194 Vector3 frame2, Quaternion frame2rot,
195 Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
196
197[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
198public static extern bool RemoveConstraintByID(uint worldID, uint id1);
199
200[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
201public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
202
203[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
204public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
205
206[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
207public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
208
209[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
210public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity);
211
212[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
213public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity);
214
215[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
216public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force);
217
218[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
219public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic);
220
221[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
222public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom);
223
224[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
225public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
226
227[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
228public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
229
230[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
231public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
232
233[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
234public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
235
236[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
237public static extern bool HasObject(uint worldID, uint id);
238
239[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
240public static extern bool DestroyObject(uint worldID, uint id);
241
242[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
243public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin);
244
245[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
246public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to);
247
248[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
249public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
250
251// Log a debug message
252[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
253public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
254[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
255public static extern void SetDebugLogCallback(DebugLogCallback callback);
256}
257}
generated by cgit v1.1 at 2024-12-23 15:28:37 +0000